The design of industrial robots is the same as most mechanical design processes; first of all, why should we design robots ? What functions can robots achieve? How big is the active space (effective working range)? After understanding the basic requirements, the next work is good. It is.
The first is to determine the type of robot according to the basic requirements, whether it is a lifting (lifting) robot arm, a three-axis coordinate robot, or a six-axis robot. The type of robot is selected to determine the control method, and there is a guiding direction for design in a limited space.
The next thing to do is to determine the design task. This is a relatively complicated process. The first step in implementing this complex process is to clearly define the design requirements. The second step is to make a mechanical transmission sketch according to the design requirements, analyze the sketch, and formulate the action flow chart. ), preliminary determination of transmission power, control process and method; the third step is to clearly define the design content, design steps, design points, design calculations, sketch drawing, materials, processing technology, control procedures, circuit diagram drawing; the fourth step is comprehensive review Confirm the production in all aspects.
Below I will use the six-axis industrial robot as the design object to clarify this design process:
Before I introduce the robot design, let me talk about the application field of the robot. The application fields of robots can be said to be very extensive. There are many examples in automated production lines, such as weight robots, packaging robots , and transfer robots. There are also many examples in welding, such as welding robots on automobile production lines; The development of robots is now very rapid, and the application of robots is also extended in various industries of civil enterprises. The demand for robot design talent is also growing.
Six-axis robots have different application models and different design forms. There are also many companies that produce robots in the world, and each has its own structure. The most widely used robots in China such as ABB, Panasonic, FANUK, and Motoman.
Since the application of robots is so extensive, there are no well-known production companies in China. As a Chinese mechanical engineering technician, it is a question worth considering! There are too few discussions about robot technology . Can practitioners not be a group? Although machine theory can be seen in many places, it has not really become popular. s things.
Now that I want to talk about design, then I will start from scratch. Try to talk about the general and concise, if you are wrong, please correct me!
The six-axis robot is a multi-joint, multi-degree-of-freedom robot with many movements and flexible changes. It is an industrial robot with high flexibility and the most extensive application. So how do you design it from scratch? How is the scope of work determined? How do you arrange the movements? How do you control the position? What are the requirements for the joints in each part? . . . . . Let us go slowly with lots of questions!
First of all, we set: the robot is a six-axis multi-degree-of-freedom robot, the standard claw welding torch for holding the oxygen gas protection welding; the welding parts with different requirements such as spot welding and continuous welding are completed, and the process requirements and the process route change rapidly. on-line. Maximum elongation: 1700mm; rotation 270 degrees; base and horizon level fixed; full motor drive.
Well, with such basic requirements, we can think about the initial plan.
The first is the all-motor drive, then we should not consider the various structures of hydraulic and pneumatic pressure when considering the solution, that is, the transmission mechanism can only use mechanical mechanisms such as rack and pinion and linkage mechanism.
Robots are used for welding, so let's examine the various welding techniques and methods under artificial behavior. There is a very complicated thing in it, that is, the welding process; that is, if the welding technique is not fixed, we will distinguish it. In the common welding, there are single point spot welding, continuous break point spot welding, continuous flat seam welding, Fillet welding, vertical seam welding, overhead welding, circumferential seam welding, etc. . . . . .
Knowing all kinds of welding methods, I understand that to achieve these complex actions, we must have a set of feasible control methods; before the machine is completely designed, we can not think too much control plan, there is a rough The contour concept will be fine. After the mechanical structure is completed, the driving power of each aspect is determined and detailed procedures are performed.
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